Automated mobile injectors and related methods

Abstract

Automated moving injectors and related methods. The automated mobile injector configured to inject a fluid onto a target surface includes a mobile base, an injection module supported by the mobile base, at least one path sensor, and a control module configured to: receive look-ahead data from the at least one path sensor; determining a first distance to the feature; determining a first overlap parameter based on the first distance, wherein the first overlap parameter indicates a first overlap degree; controlling the mobile base and the ejection module to eject at least one vertical strip based on the first overlap parameter; determining a second distance to the feature, the second distance being shorter than the first distance; determining a second overlap parameter based on the second distance, the second overlap parameter indicating a second overlap degree; and controlling the moving base and the ejection module to eject the at least one vertical strip based on a second overlap parameter for another portion of the target surface different from the portion of the target surface.

Description

[0001] This application is a divisional application of the Chinese national phase patent application with application number 202080084403.2, whose international application number is PCT / US2020 / 063257, international application date is December 4, 2020, and invention name is "Automated mobile injector and method for using the same, injection system", which entered the Chinese national phase on June 6, 2022.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims priority to U.S. Provisional Application No. 62 / 944,703, filed on December 6, 2019, entitled “Active Spray Overlap Adjustment for Automated Mobile Paint Sprayers,” and claims priority to U.S. Provisional Application No. 62 / 962,005, filed on January 16, 2020, entitled “Non-Spray Area Identification and Navigation for Automated Mobile Sprayers,” the entire disclosures of which are incorporated herein by reference. Background Art

[0004] The present disclosure generally relates to mobile fluid spraying systems. More specifically, the present disclosure relates to automated mobile painting systems.

[0005] The fluid spray system generates a spray fan of atomized fluid and applies the spray fan to a surface. The spray fan is typically in a horizontal orientation or a vertical orientation. In the horizontal orientation, the fan sweeps across the surface in a vertical traverse. In the vertical orientation, the fan sweeps across the surface in a horizontal traverse. Thus, the spray fan is oriented orthogonal to the sweep direction. Typically, a user operates a spray gun to apply fluid to the surface.

[0006] Automated painting systems are typically used to paint parts, such as doors and panels. Autonomous painting systems utilize a robotic arm that moves in three-dimensional space to apply paint to the part. The robotic arm is complex and requires multiple joints to provide the degrees of freedom required to paint the part. In addition, since the base of the robotic arm is fixed to the factory floor, the robotic arm requires the part to be moved to a position where the robotic arm can reach the part. Summary of the invention

[0007] According to one aspect of the present disclosure, an automated mobile sprayer configured to spray a fluid onto a target surface includes: a mobile base; a spray module supported by the mobile base, the spray module being movable along a vertical axis relative to the base and the target surface and configured to generate a fluid spray for application to the target surface; at least one forward sensor oriented to look ahead on a travel path of the AMS and generate look ahead data regarding a distance to an object in the travel path; and a control module configured to receive the look ahead data from the at least one forward sensor, determine a distance to an end point of the target surface, and control a displacement of the AMS relative to the target surface based on the distance to the object. The control module is configured to dynamically adjust an overlap distance of the displacement of the AMS relative to the target surface so that a final orthogonal strip applied to the target surface is at an end point of the target surface.

[0008] According to additional or alternative aspects of the present disclosure, a method for spraying fluid onto a target surface with an automated mobile sprayer includes: applying a sprayed fluid to the target surface with an AMS according to a wall-following routine, wherein a control module of the AMS causes the AMS to laterally displace an initial overlap distance between each strip applied to the target surface relative to the target surface; determining, by the control module, an operating distance to an end point of the target surface; comparing, by the control module, the operating distance to a threshold; and initiating, by the control module, a dynamic overlap routine based on the comparison indicating that the operating distance is equal to or less than the threshold. During the dynamic overlap routine, the control module is configured to dynamically adjust the initial overlap distance to a dynamic overlap distance, and to laterally displace the AMS relative to the target surface by the dynamic overlap distance during the dynamic overlap routine so that a final orthogonal spray applied to the target surface is disposed at the end point of the target surface.

[0009] According to another additional or alternative aspect of the present disclosure, an automated mobile sprayer (AMS) configured to spray a fluid onto a target surface includes: a mobile base having a transverse axis and a longitudinal axis; a drive system that moves the mobile base; a spray module supported by the mobile base, the spray module being movable along a vertical axis relative to the base, the spray module including a nozzle configured to spray a fluid longitudinally toward the target surface; one or more indicator sensors configured to sense a first indicator encountered by the AMS and generate first indicator data based on the sensed first indicator; and a control circuit. The control circuit is configured to drive the AMS along the target surface via the drive system, detect a non-spraying area in the target surface based on the first indicator data, and control the spraying by the AMS relative to the non-spraying area based on the first indicator data.

[0010] According to yet another additional or alternative aspect of the present disclosure, a spray system includes: at least one indicator disposed relative to a non-spraying area of ​​a target surface and an automated mobile sprayer (AMS) configured to spray a fluid onto the target surface. The AMS includes a mobile base having a transverse axis and a longitudinal axis; a drive system for moving the mobile base; a spray module supported by the mobile base, the spray module being movable relative to the base along a vertical axis, the spray module including a nozzle configured to spray a fluid longitudinally toward the target surface; an indicator sensor configured to sense at least one indicator and generate indicator data about at least one indicator; and a control circuit. The control circuit is configured to drive the AMS along the target surface via the drive system, detect a non-spraying area in the target surface based on the indicator data, and control the spraying by the AMS based on the indicator data so that the AMS does not apply a fluid spray to the non-spraying area.

[0011] According to yet another additional or alternative aspect of the present disclosure, a method includes: laterally shifting an automated mobile sprayer (AMS) relative to a target surface in a first lateral direction; spraying a fluid from a spray module of the AMS onto the target surface when the spray module of the AMS is shifted relative to the target surface; sensing an indicator disposed near a non-spraying area of ​​the target surface by an indicator sensor of the AMS; and stopping the spraying by a control module of the AMS based on the indicator sensor sensing the indicator. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1A is an isometric view of an automated mobile jetting system.

[0013] Figure 1B is a side view of the automated mobile ejector.

[0014] Figure 1C It is a top plan view schematic diagram of an automated mobile ejector.

[0015] Figure 1D is a schematic diagram of a vertical fluid strip.

[0016] Figure 2A It is a top plan view schematic diagram of an automated mobile ejector.

[0017] Figure 2B is a schematic diagram of the spraying area showing the non-spraying area and the indicator.

[0018] Figure 3 is an isometric view of another automated mobile ejector.

[0019] Figure 4 is a flow chart illustrating an automated mobile jetting method.

[0020] Figure 5is a flow chart illustrating an overlap adjustment method.

[0021] Figure 6 is a flow chart illustrating an automated mobile jetting method. DETAILED DESCRIPTION

[0022] Figure 1A is an isometric view of the automated mobile spraying system 10 . Figure 1B is a schematic side view of an automated mobile sprayer (AMS) 12 . Figure 1C This is a top-down plan view of AMS12;

[0023] Figure 1D is a schematic diagram of a vertical fluid strip. Figures 1A to 1D Will be discussed together. The automated mobile spray system 10 includes an AMS 12 and a fluid supply source 14, as well as an indicator 54. The AMS 12 includes a spray module 16, a base 18, a support 20, a sensor 22, a control module 24, a wheel 26, a wheel drive 28, an applicator drive 30, and a user interface 32. The spray module 16 includes a spray body 34 and a nozzle 36. The sensor 22 includes a distance sensor 38 and an indicator sensor 40. The distance sensor 38 includes a wall sensor 38a and a path sensor 38b. The control module 24 includes a memory 42 and a control circuit 44. The fluid supply source 14 includes a reservoir 46, a pump 48, and a supply hose 50. The AMS 12 includes a longitudinal axis XX, a transverse axis YY, and a vertical axis ZZ defined relative to the AMS 12.

[0024] The AMS 12 is a mobile vehicle configured to apply fluids, such as paint, primer, varnish, water, oil, stain, finish, coating, solvent, etc., to a target surface, such as surface 54. Example surfaces may be interior surfaces (such as interior walls) or exterior surfaces (such as buildings), among other options. In the example shown, the AMS 12 is a mobile ground vehicle.

[0025] The base 18 supports various components of the AMS 12. The base 18 can be made of any desired material for accommodating and / or supporting various components of the AMS 12. For example, the base 18 can be made of metal and / or composite materials. In some examples, the base 18 is weighted to prevent the AMS 12 from tilting during operation. Wheels 26 are disposed on the base 18 and provide motive force to the base 18. The wheels 26 are oriented to drive the AMS 12 parallel to the surface 52 being sprayed. Wheel drives 28 are disposed in the base 18 and are operably connected to the wheels 26. As shown, each wheel 26 is associated with a separate wheel motor 32. Each wheel motor 32 individually controls each wheel 26 to drive lateral movement of the AMS 12 and turn the AMS 12. In some examples, the AMS 12 is steered by skid steering technology, while in other examples, the AMS 12 is steered by reorienting the wheels 26 to face various driving directions. The wheel drive 28 may be any suitable motor for driving the wheels 26, such as a DC motor, a stepper motor, a pneumatic motor, a gas-powered motor, a brushed motor, a brushless motor, or any other desired motor. In the case where the wheel drive 28 is pneumatic, the base 18 may support an air compressor to provide compressed air to drive the wheel drive 28. Although the AMS 12 is described as including wheels 26, it should be understood that the AMS 12 may include any desired form of motive force. For example, the AMS 12 may include tracks or a combination of wheels and tracks, etc.

[0026] Support 20 extends from base 18. Jet module 16 rides on and is supported by support 20. Jet module 16 is supported by base 18 via support 20. Support 20 supports jet module 16 so that jet module 16 can move vertically along axis ZZ while being prevented from moving relative to support 20 along axis XX or axis YY. In one example, support 20 includes a recess that receives a protrusion extending from jet module 16. It should be understood that jet module 16 can be supported within support 20 and can translate along support 20 in any desired manner.

[0027] The applicator drive 30 is operably associated with the jetting module 16 and is configured to drive the jetting module 16 along the axis ZZ relative to the support 20 and the surface 52 to apply the fluid stripe to the surface 52. In some examples, the jetting drive 30 is displaced along the axis ZZ with the jetting module 16. For example, the applicator drive 30 may include one or more motors, such as electric motors, configured to drive a gear that interfaces with a groove formed by or in the support 20. However, it should be understood that the applicator drive 30 may be any configuration suitable for driving the jetting module 16 along the axis ZZ.

[0028] The nozzle 36 extends from the spray body 34 to the surface 52. The spray body 34 accommodates other components of the spray module 16, such as a control valve (not shown). The nozzle 36 is configured to produce a fluid jet for application to the surface 52. It should be understood that the nozzle 36 can eject the jet in any desired configuration, such as a jet fan or a jet cone, etc. It should also be understood that the desired position of the nozzle 36 may include a coordinate position, such as a distance to the surface 52, and an orientation, such as the nozzle 36 being orthogonal to the surface 52 or at another angle relative to the surface 52. In some examples, a non-orthogonal jet fan provides a satisfactory finish. In some examples, the jet orientation is maintained during each jet traversal. The quality of the finish applied to the surface 52 depends on several factors, such as the distance between the nozzle 36 and the surface 52, the required jet fan width, the thickness of the coating applied, the type of fluid, the size of the orifice in the jet pressure and the nozzle 36, and other factors.

[0029] In some examples, the nozzle 36 can be positioned in multiple positions to change the orientation of the jet fan. For example, the nozzle 36 can vertically orient the jet fan so that the jet fan is elongated along the vertical axis ZZ. In such an example, the jet module 16 can remain stationary on the vertical axis ZZ, and the AMS 12 can translate along the axis YY and relative to the surface 52 to apply a horizontal fluid strip. The nozzle 36 can be positioned to horizontally orient the jet fan so that the jet fan is elongated along the transverse axis YY. In such an example, the AMS 12 remains stationary on the axis YY, and the jet module 16 translates along the axis ZZ to apply a vertical fluid strip to the surface 52. In some examples, the nozzle 36 can rotate between a vertical fan orientation and a horizontal fan orientation.

[0030] In an example where the AMS 12 includes a control valve, the control valve controls the ejection of a fluid jet from the nozzle 36. The control valve may be an active control valve or a passive control valve. For example, when the valve is actively controlled, the control module 24 may shift the valve open to allow ejection. When the valve is actively controlled, fluid pressure may cause the valve to shift open. The control valve may be communicatively connected to the control module 24 to receive commands from the control module 24. The control valve may shift between a closed position, in which the fluid cannot flow to the nozzle 36, and an open position, in which the fluid flows to the nozzle 36 to be ejected as a jet. For example, the control valve may include a needle (not shown) extending into a seat in the nozzle 36 and an actuator (not shown) for actuating the needle. In some examples, the AMS 12 does not include a control valve, such that the nozzle 36 generates a jet fan whenever the pump 48 provides pressurized fluid. The pump 48 and / or the control valve may be operably connected to the control module 24, such that the control module 24 controls the ejection of the AMS 12.

[0031] The control module 24 is configured to store software, implement functions and / or process instructions. The control module 24 is configured to perform any of the functions discussed herein, including receiving outputs from any sensors mentioned herein, detecting any conditions or events mentioned herein, and controlling the operation of any components mentioned herein. The control module 24 can be any suitable configuration for controlling the operation of components of the AMS 12, collecting data, processing data, etc. For example, the control module 24 can receive sensor data from the sensor 22, generate drive commands, send drive commands to the wheel drive 28 to cause movement of the AMS 12, generate spray commands to cause the spray module 16 to emit a fluid spray, control the movement of the spray module 16 along the vertical axis ZZ, and execute routines based on the received data, etc.

[0032] The control module 24 may be formed of various controllers located within the base 18 or elsewhere on the AMS 12. It should be understood that the control module 24 may include hardware, firmware, and / or stored software, and that the control module 24 may be installed in whole or in part on one or more boards. The control module 24 may be of any type suitable for operation according to the techniques described herein. Although the control module 24 is illustrated as a single unit, it should be understood that the control module 24 may be arranged across one or more boards. In some examples, the control module 24 may be implemented as a plurality of discrete circuit subassemblies.

[0033] The control module 24 may communicate via wired and / or wireless communications, such as serial communications (e.g., RS-232, RS-485, or other serial communications), digital communications (e.g., Ethernet), WiFi communications, cellular communications, or other wired and / or wireless communications. The memory 42 is configured to store software that, when executed by the control circuitry 44, causes the AMS 12 and the fluid supply 14 to execute instructions and apply fluid to the surface. For example, the control circuitry 44 may include one or more of a microprocessor, a controller, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other equivalent discrete or integrated logic circuits.

[0034] Control module 24 can be configured to store information during operation. In some examples, memory 42 is described as a computer-readable storage medium. In some examples, the computer-readable storage medium may include a non-transitory medium. The term "non-transitory" may mean that the storage medium is not contained in a carrier or propagation signal. In some examples, memory 42 is a temporary memory, meaning that the main purpose of memory 42 is not long-term storage. In some examples, memory 42 is described as a volatile memory, meaning that when the power of control module 24 is turned off, memory 42 does not retain the stored content. In some examples, memory 42 also includes one or more computer-readable storage media. Memory 42 can be configured to store a larger amount of information than a volatile memory. Memory 42 can also be configured for long-term storage of information. In some examples, memory 42 includes a non-volatile storage element.

[0035] The user interface 32 may be any graphical and / or mechanical interface that enables a user to interact with the control module 24. For example, the user interface 32 may implement a graphical user interface displayed on a display device of the user interface 32 for presenting information to the user and / or receiving input from the user. The user interface 32 may include graphical navigation and control elements, such as graphical buttons or other graphical control elements presented on the display device. In some examples, the user interface 32 includes physical navigation and control elements, such as physically activated buttons or other physical navigation and control elements. Generally, the user interface 32 may include any input and / or output devices and control elements that enable a user to interact with the control module 24. In some examples, the user interface 32 may be integrated into the AMS 12. For example, the user interface 32 may be formed on the housing 24 for user convenience. In some examples, the user interface 32 may be remote from the AMS 12 and communicatively connected to the control module 24. The user interface 32 may communicate with the control module 24 via wired or wireless communications. For example, the user interface 32 may be a remote computing device that communicates with the control module 24, such as a smartphone or tablet computer.

[0036] The sensor 22 is configured to sense walls and other structures and features relative to the AMS 12. It should be understood that the sensor 22 may include one or more distance sensors, position sensors, inertial sensors, proximity sensors, and / or optical sensors. For example, the sensor 22 may include one or more of a proximity sensor, a radar transducer, a vibration echo rangefinder (including ultrasonic and / or acoustic rangefinders), a laser rangefinder, a magnetometer, a radar, a lidar, a GPS receiver chip, an accelerometer, a gyroscope, a compass, and / or a camera. The sensor 22 generates sensor data for the AMS 12 and provides the sensor data to the control module 24. The control module 24 receives the sensor data from the sensor 22 and is configured to control the movement of the AMS 12 and the injection of the nozzle 36 based at least in part on the sensor data. The sensor 22 may be any suitable configuration for generating information about features in the travel path of the AMS 12. For example, each of the sensors 22 may be oriented toward the surface 52, may be oriented along the axis YY on the travel path of the AMS 12, may be oriented between these two directions, or may be set in any other orientation for generating data.

[0037] The distance sensor 38 is configured to generate distance data regarding objects and features relative to the AMS 12. In some examples, the distance sensor 38 may be oriented toward the surface 52. In some examples, the distance sensor 38 may be oriented to look ahead in the path of travel of the AMS 12. It should be understood that the AMS 12 may include multiple distance sensors disposed at various orientations to generate distance data.

[0038] The wall sensor 38a is a distance sensor facing the surface 52. The wall sensor 38a can provide the control module 24 with relevant position information about the position and orientation of the nozzle 36 relative to the surface 52. In some examples, the AMS 12 includes two wall sensors 38a spaced apart from the nozzle 36. However, it should be understood that the AMS 12 may include more than two wall sensors 38a. In some examples, multiple wall sensors 38a are equally spaced relative to the nozzle 36 on opposite sides of the nozzle 36. However, it should be understood that the position of the wall sensor 38a is known to the control module 24, so that the wall sensor 38a can be set at any desired position on the AMS 12 suitable for generating distance data about the spacing to the surface 52. In some examples, the wall sensor 38a is non-equidistant relative to the nozzle 44.

[0039] The path sensor 38b is a distance sensor that is oriented to look ahead from the AMS 12 to detect features in the travel path of the AMS 12. For example, the path sensor 38b can detect a change in the surface 52, such as a bump or an intersection with another surface. In some examples, the AMS 12 includes multiple path sensors 38b arranged at various orientations. For example, the AMS 12 may include one or more path sensors 38b oriented to observe along an axis YY in the travel path of the AMS 12, such path sensors 38b may also be referred to as front sensors. The AMS 12 may also include one or more path sensors 38b oriented to observe along an orientation between the axis XX and the axis YY, such path sensors 38b may be referred to as intermediate sensors. The path sensor 38b is configured to generate distance data about the spacing to the feature that the AMS 12 is approaching, such as the distance to a gap formed in the surface 52 or the end of the surface 52 (such as where a wall intersects).

[0040] The indicator sensor 40 is a sensor configured to detect the presence of the indicator 54 and generate indicator data regarding the presence of the indicator 54. In some examples, the AMS 12 includes multiple indicator sensors 40 configured to sense various indicators 54. The indicator sensor 40 is configured to detect the presence of the indicator 54 and generate a signal regarding the presence of the indicator 54. The indicator sensor 40 can be disposed at any desired location on the AMS 12 suitable for sensing the indicator 54. For example, the indicator sensor 40 can be disposed on or in the base 18, can be mounted to the injection module 16, or can be disposed at any other suitable location. In examples where the indicator sensor 40 is mounted to the injection module 16, the indicator sensor 40 can travel vertically with the injection module 16.

[0041] The indicator sensor 40 may include any one or more of an optical sensor and a proximity sensor, among others. In examples where the indicator sensor 40 is an optical sensor, the optical sensor may be oriented to look ahead in the path of travel of the AMS 12 and / or the jetting module 16. For example, the optical sensor may be mounted to the jetting module 16 to travel with the jetting module 16 and may be oriented to look ahead in the path of travel of the jetting module 16 such that the optical sensor detects the indicator 54 before the nozzle 36 reaches the indicator 54.

[0042] The indicator sensor 40 may utilize proximity sensing technology, such as passive and / or active radio frequency identification (RFID) sensing, near field communication (NFC), inductive sensing, capacitive sensing, or other proximity sensing technology. For example, an RFID tag may be associated with one of the indicator 54 and the AMS 12, such as located on or within one of the indicator 54 and the AMS 12, and an RFID reader may be associated with the other of the indicator 54 and the AMS 12. An NFC tag may be associated with one of the indicator 54 and the AMS 12, such as located on or within one of the indicator 54 and the AMS 12, and an NFC reader may be associated with the other of the indicator 54 and the AMS 12. A first inductive or capacitive sensing component may be associated with one of the indicator 54 and the AMS 12, such as located on or within one of the indicator 54 and the AMS 12, and a second inductive or capacitive sensing component may be associated with the other of the indicator 54 and the AMS 12.

[0043] The indicator 54 is positioned relative to the non-spraying area 56. When preparing a location for spraying, the user can place the indicator 54 relative to the non-spraying area 56. The non-spraying area 56 is those areas on the target surface 52 where the fluid is not intended to be applied. For example, the non-spraying area 56 may include gaps, such as doorways and windows, etc. The indicator 54 is located near the non-spraying area 56 to indicate the boundary of the non-spraying area 56. In some examples, the indicator 54 includes a circuit configured to store information about the non-spraying area 56 and / or instructions about spraying relative to the non-spraying area 56. For example, the indicator 54 can provide instructions indicating that the AMS 12 should stop at the indicator 54 and wait for further instructions from the user, indicating that the AMS 12 should move laterally relative to the target surface 52 without spraying until another indicator 54 is encountered, indicating that the AMS 12 should apply fluid to certain parts of the target surface 52 rather than other parts (such as above and below the window, where the information includes the size and position of the window), etc.

[0044] The indicator 54 can be a pad, a disk, or other object placed on the ground. In the example shown, the indicator 54 is placed on the ground adjacent to the non-spraying area 56. The pad can include a mark, such as a proximity sensor component embedded in the pad. In such an example, the pad is a support 58 component that supports the sensor component 60, and the sensor component 60 can include a circuit. For example, an RFID component such as an RFID tag or an RFID reader, an NFC component such as an NFC tag or an NFC reader, or an inductive sensing component can be embedded in the pad as a sensor component 60. In some examples, the indicator 54 can be formed by a material configured to be sensed by the indicator sensor 40. For example, the indicator 54 can be formed by or include a metal component, and the metal component is configured to be sensed by a magnetic sensor forming the indicator sensor 40, such as when the indicator 54 is a metal plate or includes a metal element. The indicator sensor 40 is configured to sense the mark and generate indicator data based on the detection. In some examples, the AMS 12 is configured to travel over the indicator 54 to sense the indicator 54.

[0045] The fluid supply source 14 stores fluid and provides fluid to the AMS 12 for application to the surface 52. Although the fluid supply source 14 is shown disposed external to the AMS 12, it should be understood that in some examples, the fluid supply source 14 may be on-board the AMS 12. For example, the reservoir 46 and the pump 48 may be disposed in the housing 24 of the AMS 12.

[0046] The reservoir 46 is configured to store a large amount of fluid. The pump 48 is disposed on the reservoir 46 and is configured to draw the fluid from the reservoir 46, pressurize the fluid, and drive the fluid downstream to the nozzle 36 of the AMS12. The reservoir 46 is any suitable vessel for storing a fluid supply before application. For example, the reservoir 46 can be a barrel. The pump 48 can be a piston pump, a diaphragm pump, a peristaltic pump, or any other suitable pump for driving the fluid to the nozzle 36 of the AMS12 under pressure. In some examples, the pump 48 generates enough pressure to cause the nozzle 36 to atomize the fluid and generate a spray fan. In other examples, the AMS12 may include a secondary pump configured to generate the high pressure (approximately 3.45-27.58 MPa (approximately 500-4000 psi)) required for the atomized fluid. Thus, in some examples, the pump 48 can be a low-pressure pump for driving the fluid to the onboard pump, which then generates the desired spray pressure. A supply hose 50 extends from the pump 48 to the AMS 12 to provide pressurized fluid to the nozzles 36 of the AMS 12 for application to the surface 52 . In some examples, the supply hose 50 extends from the pump 48 to the spray body 34 .

[0047] During operation, the AMS 12 generates and applies a jet of fluid (such as paint) on a surface that may be difficult for a person to easily access and / or effectively apply the fluid. In some examples, the AMS 12 applies the fluid to the surface using multiple parallel raster paths. A raster traversal occurs when a first horizontal or vertical strip is applied to the surface and a second horizontal or vertical strip is applied directly adjacent to and / or overlapping the first strip. Any number of strips may be applied until the surface 52 is adequately coated. In some embodiments, the entirety of the pump 48 and / or reservoir 46 is carried on the AMS 12. For example, one or both of the pump 48 and reservoir 46 may be supported on the base 18 as the AMS 12 propels itself.

[0048] The pump 48 is either automatically activated by the control module 24 or activated by the user, and the pump 48 draws fluid from the reservoir 46 and drives the fluid downstream to the nozzle 36 through the supply hose 50. The nozzle 36 generates a spray and moves laterally and / or vertically across the surface 52 to apply the fluid to the surface 52. The control module 24 vertically moves the nozzle 36 by displacing the spray module 16 along the axis ZZ, thereby causing relative vertical movement of the nozzle 36. The control module 24 causes relative horizontal movement of the nozzle 36 by driving the wheels 26 to displace the AMS 12 and the nozzle 36 laterally along the axis YY. The control module 24 controls the positioning of the AMS 12 during spraying based on the distance data generated by the sensor 22. For example, the control module 24 can control the spacing between the AMS 12 and the surface 52 based on the distance data generated by the wall sensor 38a.

[0049] The AMS 12 initially operates according to a wall following routine. During the wall following routine, the AMS 12 is driven along the axis YY and the distance D1 between the nozzle 36 and the surface 52 is maintained. The control module 24 can cause the AMS 12 to operate in a wall following mode and / or an overlap adjustment mode during the wall following routine. During the wall following routine, the control module 24 controls the movement of the AMS 12 along the axis YY so that the AMS 12 is set at a desired orientation relative to the surface 52 for spraying. For example, the control module 24 can control the AMS 12 so that the axis YY is substantially parallel to the surface 52 during spraying. In the event that each of the multiple wall sensors 38a indicates the same distance to the surface 52, the control module 24 determines that the nozzle 36 is oriented orthogonal to the surface 52, and further knows the distance D1 that the nozzle 36 is spaced apart from the surface 52. If one of the wall sensors 38a indicates a different distance than another of the wall sensors 38a, the control module 24 may determine that the nozzle 36 is tilted obliquely away from the surface 52 and toward the wall sensor 38a that indicates a greater distance from the surface 52 than the other wall sensor 38a.

[0050] The control module 24 can perform corrective actions based on the information provided by the wall sensors 38a to redirect the AMS 12 to the desired spraying location. For example, the control module 24 can command one or more wheel drives 28 to rotate the wheels 26 to redirect the AMS 12 to the desired spraying location. For example, in the event that one wall sensor 38a indicates a greater distance to the surface 52 than another wall sensor 38a, the control module 24 can adjust the orientation of the AMS 12 until both wall sensors 38a indicate the same distance and so that the indicated distance is the desired distance.

[0051] During injection of both horizontal and vertical swaths, control module 24 may control injection based on the grid swaths. Figure 1D An example is shown in which the AMS 12 applies a vertical fluid strip A bounded by vertical lines A1 and A2, and a vertical fluid strip B bounded by vertical lines B1 and B2. Lines A1 and A2 represent the lateral boundaries of a first spray fan that applies strip A to the surface 52, while lines B1 and B2 represent the lateral boundaries of a second spray fan that applies strip B to the surface 52. As shown, the first spray fan and the second spray fan are adjacent and overlap. Vertical strip A and vertical strip B overlap with an overlap parameter C1. When operating in the wall-following mode, the overlap parameter can be preset in the control module 24 and / or provided by the user to control the amount of overlap between adjacent strips. The overlap parameter C1 can be a programmable distance or percentage of overlap between strips. For example, an overlap parameter of 50% means that half of each strip is applied over the previous strip, so that each portion of the surface 52 is coated twice.

[0052] An example spray event in which the AMS 12 applies a vertical stripe will be discussed further herein. When a vertical stripe of fluid is applied, the nozzle 36 produces a horizontal spray fan. The horizontal spray fan is elongated laterally relative to the surface 52 and along the axis YY. The spray routine can be initiated by the control module 24 and / or the user. When the spray routine begins, the control module 24 positions the AMS 12 at a desired starting position, thereby positioning the spray module 16 and the nozzle 36 at a desired starting position. The control module 24 controls the movement of the AMS 12 via the wheel drive 28. The AMS 12 moves to position the nozzle 36 at a desired distance, position, and orientation relative to the surface 52.

[0053] The pump 48 is activated by the control module 24 or a user to drive the fluid downstream to the nozzle 36. In some examples, the control module 24 can provide a start spray command to the control valve to start the spray. The start spray command causes the control valve to open a flow path through the nozzle 36, such as by actuating a needle to open the flow path. The fluid flows through the flow path and is sprayed by the nozzle 36 as an atomized spray. In some examples, when the pump 48 generates sufficient pressure, the control valve is passively actuated to an open state. To stop the spray, the control module 24 can deactivate the pump and / or shift the control valve to a closed position, etc.

[0054] The control module 24 controls the jetting to apply a smooth and uniform finish on the surface. In some examples, the control module 24 controls the jetting so that the nozzle 36 moves relative to the surface 52 before the fluid is ejected from the nozzle 36. Starting the jetting when the nozzle 36 is in motion reduces or in some examples eliminates undesirable effects caused by splashing, which most often occurs at the beginning of the jetting and at the end of the jetting. Because the nozzle 36 is already in motion, any undesirable spray pattern is evenly distributed on the surface 52 and can be corrected by subsequent fluid application. The control module 24 can implement a delay between activating the wheel drive 28 or the applicator drive 30 and the opening of the control valve 46 to delay the jetting until the nozzle 36 moves.

[0055] The control module 24 generates a spray command and provides the spray command to the spray drive 30 to initiate vertical movement of the spray module 16 along the vertical axis ZZ. The nozzle 36 sprays the fluid jet and the spray module 16 applies the first vertical fluid strip to the surface 52. The control module 24 may initially operate the AMS 12 in the wall-following mode.

[0056] After applying the first vertical strip, the control module 24 activates the wheel drive 28 to cause the AMS 12 to shift laterally along the axis YY and relative to the surface 52 according to the initial overlap parameter C1 to apply the second and additional vertical strips. The initial overlap parameter C1 can be set by the user or determined by the control module 24, such as at the beginning of the injection event. For example, if each strip is 12 inches (in.) (approximately 30.48 centimeters (cm)) wide, then a 50% overlap parameter provides an overlap distance of 6 in. (15.24 cm). In some examples, the overlap parameter is the overlap distance, i.e., 6 in. in the example discussed. The control module 24 causes the AMS 12 to shift according to the initial overlap parameter between each strip application. The AMS 12 continues to apply strips based on the initial overlap parameter C1 until the control module 24 enters an overlap adjustment mode.

[0057] The path sensor 38b generates data about the distance to features in the surface 52. These features can be windows, doorways, wall transitions, or other features in the surface 52. The control module 24 can cause the AMS 12 to apply fluid to the surface 52 until the feature is reached. It should be understood that applying the fluid until the feature is reached can include stopping at an end point EP associated with the feature but not at the feature itself, which end point EP can be located at the feature or spaced apart from the feature. For example, the end point EP can be located at a point on the surface 52 at which the along-the-wall routine ends and another routine, such as a wall transition routine, is executed. In such an example, the end point EP can be spaced a sufficient distance from the adjacent wall so that the AMS 12 has room to operate relative to the transition and is oriented on the adjacent wall to spray onto the adjacent wall. The control module 24 can determine the end point EP by applying a spacing factor to the distance D2, which can be the distance that the AMS 12 is spaced from the wall when another routine begins. For example, the control module 24 can determine the distance to the end point EP by subtracting the spacing factor from the distance D2.

[0058] In the wall following routine, drive errors and sensor errors can cause the actual overlap between adjacent strips to be different than the initial overlap parameter C1. For example, the wheel 26 may displace the AMS 12 slightly less than or more than the commanded drive distance, or the orientation of the AMS 12 relative to the surface 52 may need to be adjusted to provide parallelism before ejecting the strips. As the distance D2 to the surface T decreases, the accuracy of the path sensor 38b also increases. As the AMS 12 approaches the surface T, such errors and / or physical composition of the surface 52 can cause the traverse count to become a fractional traverse count, which is the number of strips applied required to reach the end point EP of the surface 52.

[0059] The control module 24 is configured to adjust the initial overlap parameter during operation. The adjustment can account for inaccurate repositioning movements due to drive and / or sensor errors. In some examples, the control module 24 dynamically adjusts the overlap parameter during operation. The control module 24 adjusts the overlap parameter C1 based on the remaining travel distance D2 to the features of the surface 52. The control module 24 can determine the travel distance D2 based on the distance data provided by the path sensor 38b. The control module 24 adjusts the initial overlap parameter so that the last orthogonal fluid strip W applied by the AMS12 on the surface 52 is a complete strip. The dynamic overlap adjustment ensures that the final strip does not leave an unsprayed gap between the final strip and the features of the surface 52, while maintaining sufficient overlap between adjacent strips to provide the desired coverage. When operating in the overlap adjustment mode, the AMS12 continues to travel along the surface 52 while applying fluid. In this way, the wall-following routine can include a wall-following mode and an overlap adjustment mode.

[0060] When operating in the overlap adjustment mode, the control module 24 can control the operation of the AMS 12 based on a dynamic overlap routine. The overlap adjustment routine causes the AMS 12 to apply a complete final orthogonal strip at the end point EP of the surface 52. As the AMS 12 approaches the feature after each application of the fluid strip, and as the AMS 12 approaches the feature, the control module 24 can dynamically adjust the overlap parameters. The control module 24 can initiate the overlap adjustment mode based on the operating parameters and the adjustment threshold. For example, the control module 24 can be configured to operate the AMS 12 in the overlap adjustment mode when the operating parameters reach the adjustment threshold. The adjustment threshold can be a distance to the end point EP or a remaining traversal count, which is a count of the number of strips remaining to reach the end point EP, etc. When the adjustment threshold is reached, the control module 24 can enter the overlap adjustment mode and control the AMS 12 according to the overlap adjustment routine. During the overlap adjustment routine, the control module 24 determines the dynamic overlap parameters and controls the movement of the AMS 12 along the axis YY and relative to the surface 52 based on the dynamic overlap parameters. The dynamic overlap parameter may vary throughout the overlap adjustment routine, such that the overlap adjustment routine includes a plurality of dynamic overlap parameters O1-On. In this way, the dynamic overlap parameter may be dynamic and may vary during operation.

[0061] During the overlap adjustment routine, the control module 24 determines the dynamic overlap parameters before shifting the AMS 12 to apply the next strip. The control module 24 receives the look-ahead data from the path sensor 38b and determines the distance to the end point EP of the surface 52 based on the look-ahead data. For example, the front sensor of the path sensor 38b can generate distance data about the spacing to the inside corner or other projection, while the middle sensor of the path sensor 38b can generate distance data about the spacing to the outside corner or other gap.

[0062] The control module 24 may determine the number of swaths that need to be applied to reach the features of the surface 52. The control module 24 may perform an overlap adjustment routine so that the final orthogonal spray relative to the surface 52 is applied at the desired location relative to the features of the surface 52 to prevent any gaps or uneven spraying. The overlap adjustment routine further causes the AMS 12 to evenly apply the fluid as the AMS 12 approaches the end of the along-the-wall routine.

[0063] In some examples, the control module 24 may initiate the overlap adjustment routine based on a threshold distance. In such an example, if the distance D2 to the endpoint EP / feature is greater than the threshold distance, the control module 24 may cause the AMS 12 to continue to operate according to the wall-following routine. The control module 24 initiates the overlap adjustment routine based on the distance D2 being equal to or less than the threshold distance. The threshold distance may be any desired distance from the endpoint EP of the surface 52, such as 12 in. (30.48 cm), 24 in. (60.96 cm), 36 in. (91.44 cm), 48 in. (121.92 cm), 60 in. (152.40 cm), or further from the endpoint EP, or any intermediate distance value.

[0064] In other examples, the control module 24 can be configured to initiate the overlap adjustment routine based on a threshold traversal count. In such an example, if the remaining traversal count exceeds the threshold traversal count, the control module 24 can cause the AMS 12 to continue to operate according to the wall-following routine. The control module 24 initiates the overlap adjustment routine based on the remaining traversal count being equal to or less than the threshold traversal count. The threshold traversal count can be any desired number of traversals remaining to the end point EP of the surface 52, such as three, four, five, ten, fifteen, or more traversals remaining, or any intermediate number of traversals remaining.

[0065] An example of an overlap adjustment routine based on a threshold distance is discussed in more detail. In the example discussed, the jet fan has a width of 12 inches, the initial overlap parameter C is 50%, the threshold distance is 36 inches, and the distance D2 is 34in. (86.36cm). The control module 24 receives the look-ahead data from the path sensor 38b and determines that the distance D2 is 34 inches based on the look-ahead data. The control module 24 compares the distance D2 with the threshold distance. The distance D2 is less than the threshold distance, so the control module 24 initiates the overlap adjustment routine. The control module 24 determines an initial remaining pass count for the number of strips required to completely cover the surface 52 to reach the end point EP of the surface 52. Using an overlap parameter C1 of 50%, each strip will apply an additional 6 inches of coverage width. The initial remaining pass count can be calculated by dividing the distance D2 by the overlap parameter applied to each strip width. In this example, the remaining pass count has a pass count value of 5.67 strips.

[0066] The control module 24 determines the status of the remaining traversal count, such as whether the remaining traversal count is an integer or a fraction. If the remaining traversal count is a fraction, the control module 24 adjusts the remaining traversal count to an adjusted remaining traversal count that is an integer. The remaining traversal count is an integer rather than a fraction, which provides a full-width final orthogonal strip W ( Figure 1D). The fractional traversal count can be adjusted up or down to the nearest integer. For example, an initial remaining traversal count of 5.67 can be adjusted to an adjusted traversal count of 5 or 6. In some examples, the control module 24 is configured to adjust the traversal count to the nearest integer greater than the fractional remaining traversal count, providing an adjusted remaining traversal count of 6 in the example discussed. Adjusting to the next larger integer ensures that each portion of the surface 52 receives at least two fluid applications. In some examples, the control module 24 is configured to adjust the remaining traversal count to the nearest adjacent integer, providing an adjusted remaining traversal count of 6 in the example discussed. Adjusting to the nearest adjacent integer minimizes any difference between the dynamic overlap parameter and the initial overlap parameter.

[0067] The control module 24 determines a dynamic overlap parameter based on the adjusted traverse count and the distance D2. The remaining distance D2 to the end point EP of the surface 52 is divided by the adjusted traverse count 6 to determine the first dynamic overlap parameter O1, resulting in a first dynamic overlap distance O1 of 5.67 in. (14.40 cm), providing a first dynamic overlap percentage of 47.25%.

[0068] like Figure 1D As shown, the last strip applied before initiating the overlap adjustment routine is a vertical fluid strip F defined by vertical lines F1 and F2. The control module 24 displaces the AMS 12 laterally along the axis YY relative to the surface 52 by a first dynamic overlap distance O1. The AMS 12 applies a vertical strip G defined by vertical lines G1 and G2 at this position.

[0069] The control module 24 may determine a second dynamic overlap parameter O2 before shifting the AMS 12 to apply the next vertical strip H. For example, if the AMS 12 actually moves 5.5 in. to apply the vertical strip G, 28.5 in. remains to the end point EP of the surface 52. Additional dynamic overlap parameters O2-On may be based on the first adjusted remaining pass count determined during the overlap adjustment routine. Thus, the second and subsequent dynamic overlap parameters may be determined by dividing the remaining distance (28.5 inches in this example) by the remaining passes, which is the adjusted remaining pass count minus the number of passes completed during the overlap adjustment routine. In this example, the remaining passes are 5. The resulting dynamic overlap parameter O2 has a second dynamic overlap distance of 5.7 in. (14.48 cm), providing a second dynamic overlap percentage of 47.5%.

[0070] In some examples, the control module 24 is configured to continue applying the strip according to the first dynamic overlap parameter O1 as long as the magnitude of the inaccurate repositioning movement is less than the threshold. For example, if the threshold is 0.2 in. (0.51 cm), the control module 24 can control the movement of the AMS 12 to apply the vertical strip H based on the first dynamic overlap distance O1 based on the difference between the actual movement and the commanded movement (0.17 in. in this example) being less than the threshold. In some examples, the threshold can be cumulative. For example, if additional inaccurate repositioning movements increase the difference to be greater than the threshold, the control module 24 can determine a second dynamic overlap parameter O2 and control the movement based on the second dynamic overlap parameter.

[0071] The control module 24 causes the AMS 12 to shift laterally along the axis YY relative to the surface 52 by a second dynamic overlap parameter O2 and apply a vertical strip H defined by the vertical lines H1 and H2 at that position. Although the same vertical lines are shown as H1 and F2, it should be understood that the boundaries of the vertical strips can vary relative to each other. The control module 24 continues to determine additional overlap parameters O3-On and controls the operation of the AMS 12 based on these overlap parameters O3-On. The AMS 12 continues to apply fluid strips according to the overlap adjustment routine. The control module 24 determines the final dynamic overlap parameter On and causes the AMS 12 to shift from the position where the penultimate strip V defined by the vertical lines V1 and V2 is applied to apply the final orthogonal strip W defined by the vertical lines W1 and W2. The AMS 12 shifts according to the dynamic overlap parameter On to apply the final orthogonal strip W. The vertical line W2 is aligned with the end point EP of the surface 52. In this way, the final orthogonal strip W applied to the surface 52 is applied at the end point EP of the surface 52.

[0072] An example of an overlap adjustment routine based on a threshold pass count is briefly discussed in greater detail. In the example discussed, the width of the jet fan is 12 inches, the initial overlap parameter is 50%, the threshold pass count is 10 passes, and the distance D2 is 58 in. (147.32 cm). The control module 24 determines a remaining pass count for the number of jet passes required to completely cover the surface 52 before reaching the end point EP of the surface 52. The control module 24 compares the remaining pass count to the threshold pass count and initiates the overlap adjustment routine based on the remaining pass count being less than or equal to the threshold pass count.

[0073] In some examples, control module 24 may subtract the completed traverse count from the initial traverse count. In one example, control module 24 determines the initial traverse count before activating any jetting on surface 52 based on look-ahead data from distance sensor 38. Control module 24 may subtract the completed traverse count from the initial traverse count to determine the remaining traverse count. In some examples, a user may input an expected traverse count for surface 52, such as via user interface 32, and the expected traverse count may be the initial traverse count. Control module 24 may subtract the completed traverse count from the initial traverse count provided by the user.

[0074] In some examples, control module 24 determines the remaining pass count based on look-ahead data from distance sensor 38. Control module 24 receives the look-ahead data from distance sensor 38 and may determine that distance D2 is 58 inches based on the look-ahead data. The remaining pass count may be calculated by dividing distance D2 by the overlap parameter applied to each swath width. At an initial overlap parameter of 50%, each swath applies an additional 6 inches of spray coverage, providing a remaining pass count of 9.67 passes in the example discussed.

[0075] The control module 24 adjusts the initial overlap parameter C1 to the dynamic overlap parameter so that the remaining pass count is an integer. The remaining pass count is an integer rather than a fraction, which provides a final orthogonal jet of full width at the features of the surface 52. The fractional remaining pass count can be adjusted up or down to the nearest integer. For example, an initial remaining pass count of 9.67 passes can be adjusted to an adjusted remaining pass count of 9 or 10. In some examples, the control module 24 is configured to adjust the remaining pass count to the nearest integer greater than the fractional remaining pass count, providing an adjusted remaining pass count of 10 in the example discussed. Adjusting to the next larger integer causes the AMS 12 to coat each portion of the surface 52 with at least two fluid applications. In some examples, the control module 24 is configured to adjust the remaining pass count to the nearest adjacent integer, providing an adjusted remaining pass count of 10 in the example discussed. Adjusting to the nearest adjacent integer minimizes any difference between the dynamic overlap parameter and the initial overlap parameter.

[0076] The control module 24 determines a dynamic overlap parameter based on the adjusted traverse count and the distance D2. The distance D2 remaining to the end point EP of the surface 52 is divided by the adjusted traverse count 10 to determine a first dynamic overlap parameter O1, resulting in a first dynamic overlap distance of 5.8 in. (14.73 cm), providing a first dynamic overlap percentage of 48.33%.

[0077] like Figure 1DAs shown, the last strip applied before initiating the overlap adjustment routine is a vertical fluid strip F defined by vertical lines F1 and F2. The control module 24 causes the AMS 12 to shift laterally along the axis YY relative to the surface 52 by a first dynamic overlap parameter O1. The AMS 12 applies a vertical strip G defined by vertical lines G1 and G2 at this position.

[0078] The control module 24 continues to determine additional dynamic overlap distances O2-On and controls the operation of the AMS 12 based on these dynamic overlap distances O2-On. The control module 24 determines a final dynamic overlap parameter On and causes the AMS 12 to shift from the position of applying the penultimate strip V defined by the vertical lines V1 and V2 to apply a final orthogonal strip W defined by the vertical lines W1 and W2. The AMS 12 shifts to apply the final orthogonal strip W according to the dynamic overlap parameter On. The vertical line W2 is aligned with the end point EP of the surface 52. In this way, the final orthogonal strip W of the along-the-wall routine is disposed at the end point EP of the surface 52.

[0079] AMS12 provides significant advantages. AMS12 provides automated fluid application. AMS12 improves productivity by allowing a human operator to focus on other aspects of the project while AMS12 sprays surface 68. AMS12 is able to navigate within a room and apply fluid to surface 68. As AMS12 approaches features of surface 52, control module 24 executes an overlap adjustment routine. The dynamic overlap routine minimizes the difference in overlap from the initial overlap parameters when positioning AMS12 so that the final orthogonal strips applied to surface 52 are at the end point EP of surface 52. Applying a complete final orthogonal strip prevents a gap from being set at the end point EP of surface 52, which needs to be covered by AMS12 or the user. In this way, the overlap adjustment routine improves efficiency and reduces material costs. Applying a complete final orthogonal strip provides a smooth transition from the along-the-wall routine to the attach routine.

[0080] Figure 2A This is a top-down schematic diagram of AMS12. Figure 2B is a schematic diagram of a spraying environment showing a non-spraying area 56 and an indicator 54 . Figure 2A and Figure 2B Will discuss together.

[0081] The control module 24 is configured to control the injection and movement of the AMS 12 based on the signals received from the indicator sensor 40. The indicator sensor 40 may be of any desired configuration suitable for sensing the presence of the indicator 54. In some examples, the AMS 12 may include multiple indicator sensors 40 of various configurations, thereby facilitating the AMS 12 to use various types of indicators 54.

[0082] The indicator 54 is placed near the non-injection area 56. The indicator 54 can be placed on the ground near the non-injection area 56. In some examples, the indicator 54 can be adhered to or placed on the vertical surface 54. Multiple indicators 54 can bracket the non-injection area 56 to indicate the lateral boundaries of the non-injection area 56. For example, a first indicator 54 can be placed at the entrance of the gap and a second indicator 54 can be placed at the exit of the gap. The control module 24 can control the movement of the AMS 12 and the injection of the AMS 12 according to the injection adjustment routine based on the AMS 12 encountering the entrance indicator in the indicator 54. The control module 24 can control the movement of the AMS 12 and the injection of the AMS 12 according to the wall-following routine based on the AMS 12 encountering the exit indicator in the indicator 54.

[0083] The control module 24 may cause the AMS 12 to operate according to a spray adjustment routine based on the indicator sensor 40 sensing the indicator 54. During the spray adjustment routine, the control module 24 controls the spraying and movement by the AMS 12 to prevent the AMS 12 from applying spray fluid in the non-spraying area 56. The control module 24 may execute specific instructions regarding the spray adjustment routine based at least in part on the indicator 54 sensed by the indicator sensor 40. For example, the control module 24 may cause the AMS 12 to move laterally past the non-spraying area 56 until another indicator 54 is encountered, whereupon the control module 24 resumes the wall following routine after having passed the non-spraying area 56. In some examples, the control module 24 may cause the AMS 12 to spray a portion of the target surface 52 around the non-spraying area 56 (such as above and below a window forming the non-spraying area 56), and then resume the wall following routine after having passed the non-spraying area 56. In some examples, the control module 24 may cause the AMS 12 to stop at the indicator 54 until further instructions are received from the user. Instructions for various injection adjustment routines may be stored in the memory 42 and invoked based on the indicators 54 encountered.

[0084] In some examples, the indicator 54 is programmable to provide the AMS 12 with relevant information regarding the non-injection area 56. Figure 2BAs shown, the target surface 52 may include various non-spraying areas 56 with various configurations, such as windows and doorways. In some examples, a first subset of indicators 54 may be programmed to be associated with a first type of non-spraying area 56 (such as a window), and a second subset of indicators 54 may be programmed to be associated with a second type of non-spraying area 56 (such as a door). When the indicator sensor 40 detects an indicator 54 in the first subset, information from the indicator 54 may provide details about the first type of non-spraying area 56 associated with the indicator 54. For example, the first subset of indicators 54 may be associated with a window that is a certain height above the ground and has a certain width. The control module 24 may control the spraying of the AMS 12 relative to the first type of non-spraying area 56 based on the information from the indicator 54, so that the AMS 12 applies fluid around the non-spraying area 56 but not within it. When the AMS 12 encounters an indicator 54 in the second subset, the information from the indicator 54 may inform the control module 24 about the second type of non-spraying area 56.

[0085] It should be understood that the spraying instructions associated with each subset of indicators 54 and the type of non-spraying area 56 may be stored in the memory 42 of the control module 24 and recalled based on the type of non-spraying area 56 indicated by the indicator 54. For example, spraying instructions for type A and type B window openings may be stored in the memory 42. A first subset of indicators 54 may indicate that the non-spraying area 56 is window type A, and a second subset of indicators 54 may indicate that the non-spraying area 56 is window type B. The control module 24 may recall the spraying instructions from the memory 42 based on the particular indicator 54 sensed by the indicator sensor 40.

[0086] In some examples, the control module 24 may control the spraying relative to the gap 56 based on data from the indicator sensor 40 and the distance sensor 38. For example, the control module 24 may enter a spraying adjustment mode based on the AMS 12 encountering the indicator 54 and determine a specific spraying routine to be executed based on the data from the distance sensor 38. In such an example, when the inlet indicator in the indicator 54 is encountered, the control module 24 causes the AMS 12 to drive forward relative to the target surface 52. As the AMS 12 moves forward relative to the inlet indicator in the indicator 54, the control module 24 receives distance data from the distance sensor 38 (such as the forward-facing wall sensor 38a). The control module 24 may determine the type of non-spraying area 56 based on the distance data. For example, if the distance data indicates a sudden increase in distance, the control module 24 may classify the non-spraying area 56 as a doorway, call the spraying adjustment routine associated with the doorway from the memory 42, and cause the AMS 12 to apply fluid to the target surface 52 according to the doorway spraying adjustment routine. If the distance data indicates a stable distance, the control module 24 may classify the non-spray area 56 as a window, call a spray adjustment routine associated with the window from the memory 42, and cause the AMS 12 to apply fluid to the target surface 52 according to the window spray adjustment routine. The type of spray adjustment routine may be stored in the memory 42 prior to operation. In some examples, the AMS 12 may be configured to operate according to two types of spray adjustment routines, one based on the wall sensor 38a detecting an increased distance and another based on the wall sensor 38a detecting a stable distance. Although the spray adjustment routine based on the wall sensor 38a detecting a stable distance is discussed with respect to a window opening, it should be understood that the spray adjustment routine may be associated with any desired type of non-spray area 56 that does not have an increased distance at the location of the wall sensor 38a, such as a soffit, a utility box, etc.

[0087] The control module 24 causes the AMS 12 to apply a strip of fluid according to the along-the-wall routine until the indicator sensor 40 detects the indicator 54. When the indicator sensor 40 detects the indicator 54, the control module 24 executes the spray adjustment routine and causes the AMS 12 to operate according to the spray adjustment routine. As described above, in some examples, the control module 24 may execute various spray adjustment routines based on the information provided by the indicator 54. The control module 24 may cause the AMS 12 to stop spraying and move laterally relative to the target surface 52 through a set distance or until another indicator 54 is encountered, may cause the AMS 12 to apply fluid relative to the non-spraying area 56, and / or may cause the AMS 12 to stop operating and await further user instructions, etc.

[0088] The spraying system 10 and AMS 12 provide significant advantages. The indicator 54 is placed near the non-spraying area 56 and indicates the presence of the non-spraying area 56 to the AMS 12 during operation. The indicator sensor 40 senses the indicator 54 and can provide information to the control module 24 so that the control module 24 performs a different spraying routine based on the presence of the indicator 54 and, in some examples, based on data from the distance sensor 38. The indicator 54 and the indicator sensor 40 prevent the AMS 12 from applying spray fluid to the non-spraying area 56, reducing material costs and providing a more efficient spraying process. Therefore, the AMS 12 can autonomously navigate and spray with respect to the non-spraying area 56, improving productivity by allowing the user to focus on other aspects of the project while the AMS 12 is running. In addition, the indicator 54 can be placed at any desired location at the spraying site, allowing the user to define the non-spraying area 56 as desired and based on the requirements of a particular job.

[0089] Figure 3 1 is an isometric view of an automated mobile sprayer (AMS) 12′. In the example shown, the AMS 12′ is an unmanned aerial vehicle (UAV) configured to apply fluids, such as paint, varnish, water, oil, stain, finish, coating, solvent, etc., to a surface. The example surfaces can be interior surfaces, such as walls, or exterior surfaces, such as buildings, bridges, utility towers, and vehicles. The AMS 12′ includes a spray module 16′, a base 18′, a sensor 22, and a lift rotor 62. The spray module 16 includes a nozzle 36 and a spray pipe 64. The AMS 12′ may include reference AMS 12( Figures 1A to 1C ) described above, including a control module, a user interface, a control valve, etc. The sensor 22 may include a distance sensor similar to the wall sensor 38a ( Figure 1C and Figure 2A ) and path sensor 38b ( Figure 1C and Figure 2A ), and in some examples, may include an indicator sensor 40. Similar to the fluid supply source 14 ( Figure 1A ) may be disposed on or outside the AMS 12' and fluidically connected to the AMS 12'.

[0090] The base 18' supports various components of the AMS 12'. A lift rotor 62 extends from the base 18' and provides lift to the AMS 12' during flight. A jet pipe 64 extends from the base 18' and is configured to provide fluid from the AMS 12' to the nozzle 36. The nozzle 36 is attached to the jet pipe 64 and is configured to atomize the fluid and produce a fluid spray fan SF. In the example shown, the nozzle 36 is oriented to produce a vertical spray fan for applying horizontal strips, but it should be understood that the nozzle 36 can be adjusted to a different orientation to produce a horizontal spray fan, or alternatively a nozzle 36 oriented to produce a horizontal spray fan for applying vertical strips or to produce any other desired spray configuration.

[0091] Sensor 22 is disposed on 18' and is substantially similar to that described with respect to Figures 1A to 2B The sensors 22 discussed. A distance sensor 38 is shown. It should be understood that the AMS 12′ may include any number of distance sensors 38 as desired. The distance sensor 38 may generate distance data regarding the distance to features of the surface 52. The distance sensor 38 may be oriented to look in any direction relative to the AMS 12′ to generate distance data regarding features in the path of travel of the AMS 12′, including above and below the AMS 12′. The distance sensor 38 generates the distance data, and a control module of the AMS 12′, such as the control module 24 ( Figure 1B to Figure 1C ), the overlap of each applied strip may be redrawn as the AMS 12′ approaches the feature to compensate for the location of the feature. Similar to the control module 24, the control module of the AMS 12′ may determine dynamic overlap parameters during operation and control the movement and spraying of the AMS 12′ based on the determined overlap parameters.

[0092] Similar to AMS12, AMS12' can apply fluid to surface 52 according to a wall-following routine and can operate according to an overlap adjustment routine. Unlike AMS12, AMS12' is a flying vehicle that can travel in any direction within the ZY plane to apply fluid, including vertically up and down, horizontally left and right, and / or a combination thereof. AMS12' travels horizontally relative to surface 52 to apply horizontal strips, and travels vertically relative to surface 52 to apply vertical strips. The control module can adjust the initial overlap parameter during operation to adjust the overlap between adjacent strips. The control module can adjust the overlap parameter based on the spacing between the current fluid strip and the features of the surface 52. The control module 24 adjusts the overlap parameter based on the remaining travel distance to the end point of the surface 52. The control module can determine the travel distance based on the distance data provided by the distance sensor 38.

[0093] The control module adjusts the initial overlap parameters so that the final vertical or horizontal orthogonal fluid strip is applied by the AMS 12' as a full width strip on the surface 52. The dynamic overlap adjustment ensures that the final strip does not leave un-jetted gaps between the final strip and the features of the surface 52, while maintaining sufficient overlap between adjacent strips to provide the desired coverage. The AMS 12' continues to travel along the surface 52 while applying fluid during the overlap adjustment mode.

[0094] During the overlap adjustment routine, the control module determines the dynamic overlap parameters before shifting the AMS 12' to apply the next swath. The control module receives the look-ahead data from the distance sensor 38 and determines the distance to the feature on the surface 52 based on the look-ahead data. The control module determines the number of swaths required to be applied to the feature on the surface 52. The overlap parameters are adjusted during the overlap adjustment routine so that the final orthogonal jet relative to the surface 52 is applied at the desired location relative to the feature on the surface 52 to prevent any gaps or uneven jetting.

[0095] During the overlap adjustment routine, the control module determines the remaining distance to the end point EP associated with the feature and determines a new overlap parameter based on the remaining distance and other operating parameters, such as the width of the spray fan, the type of spray head, the desired coverage, etc. The initial overlap parameter is adjusted based on these variables, and the control module controls movement and spraying by the AMS 12 ′ based on the dynamic overlap parameter determined by the control module.

[0096] The control module determines the dynamic overlap parameter based on a comparison between the injection parameter and a threshold parameter (such as distance or pass count), as described above with reference to Figures 1A to 1D If the injection parameter is greater than the threshold parameter, the control module may cause the AMS 12' to continue to operate according to the wall following routine. The control module may initiate the overlap adjustment routine based on the injection parameter being equal to or less than the threshold parameter.

[0097] For example, the control module receives look-ahead data from at least one distance sensor 38. The control module determines an injection parameter, such as a distance to a feature, based on the look-ahead data. The control module compares the injection parameter to a threshold parameter. If the injection parameter is less than the threshold distance, the control module initiates an overlap adjustment routine.

[0098] During the overlap adjustment routine, the control module determines one or more dynamic overlap parameters and controls the movement and spraying by the AMS 12' based on the dynamic overlap parameters. The control module determines an initial remaining pass count for the number of swaths required to completely cover the surface 52 to reach the end point EP of the surface 52. The initial remaining pass count can be calculated by dividing the distance to the end point EP by the overlap parameter applied to each swath width.

[0099] The control module determines the status of the remaining traversal count, such as whether the remaining traversal count is an integer or a fraction. If the remaining traversal count is a fraction, the control module adjusts the remaining traversal count to an adjusted remaining traversal count that is an integer. The remaining traversal count is an integer rather than a fraction, which provides a final orthogonal strip W of full width at the feature of the surface 52 ( Figure 1D ). The fractional pass count may be adjusted up or down to the nearest integer. Adjusting to the next higher integer ensures that each portion of the surface 52 receives at least two fluid applications. Adjusting to the nearest adjacent integer minimizes any difference between the dynamic overlap parameter and the initial overlap parameter. If the remaining pass count is an integer, the control module may utilize the initial overlap parameter to shift the AMS 12 ′ to apply the next fluid stripe.

[0100] The control module determines a dynamic overlap parameter based on the adjusted traversal count and the remaining distance to the feature. The remaining distance to the feature of the surface 52 can be divided by the adjusted traversal count to determine a first dynamic overlap parameter. The control module can displace the AMS 12' orthogonal to the strip axis and relative to the surface 52 according to the dynamic overlap parameter. The AMS 12' is considered to apply a fluid strip along a first axis, and the AMS 12' is displaced along a second axis to apply an adjacent fluid strip, the second axis being transverse to the first axis and, in some examples, orthogonal to the first axis.

[0101] After shifting and applying the adjacent strip, the control module may repeat the overlap adjustment routine to determine second and subsequent dynamic overlap parameters. The control module determines the distance to the feature based on the look-ahead data, determines a second dynamic overlap parameter, and controls movement of the AMS 12' based on the second dynamic overlap parameter. The control module may continue to determine additional overlap parameters throughout the operation and control operation of the AMS 12' based on these overlap parameters. The control module may continue to operate the AMS 12' in the overlap adjustment mode until an endpoint is reached.

[0102] Figure 4 1 is a flow chart illustrating a method 100. The method 100 is to use an automated mobile ejector, such as AMS12 ( Figures 1A to 1C as well as Figure 2A ) or AMS12′( Figure 3 ) to inject the fluid. In step 102, a control module of the AMS, such as control module 24 ( Figure 1B , Figure 1C and Figure 2A ) executes a wall following routine to cause the AMS to apply fluid to a target surface, such as surface 52, according to the wall following routine. In the wall following routine, the AMS is spaced a first distance from the target surface. A distance sensor oriented toward the surface, such as wall sensor 38a ( Figure 1C and Figure 2A ) is provided to the control module, and the control module controls the movement of the AMS so that the AMS maintains a desired orientation relative to the surface and is spaced from the surface. For example, the AMS may remain parallel to the target wall and spaced from the target wall by a first distance. The AMS applies the first fluid strip to the target wall. The control module displaces the AMS relative to the wall according to the initial overlap parameter. For example, the control module may activate wheels 26 ( Figures 1A to 1C as well as Figure 2A ) of the wheel motor 32 ( Figure 1C and Figure 2A ) to displace the AMS laterally relative to the surface. The control module may be based on feedback from the wheel motors, data from sensors configured to sense wheel rotation, and data from path sensors such as path sensor 38b ( Figure 1C ) or in any other desired manner to determine the distance traveled. The AMS continues to apply fluid according to the wall-to-wall routine until the operating parameter reaches a threshold.

[0103] In step 104, the control module compares the operating parameter to a threshold. The threshold is based on the spacing of the AMS from the target wall endpoint. The endpoint is the location where the AMS ends the wall-following routine relative to a wall feature. For example, the endpoint may be located at the feature or spaced from the feature. The operating parameter may be determined based on look-ahead data provided by a path sensor of the AMS. For example, the operating parameter may be a remaining distance to the endpoint and / or a number of remaining jet traverses to the endpoint, etc. The threshold may be a threshold distance and / or a threshold traverse count, etc.

[0104] In step 106, the control module compares the operating parameter to a threshold value to determine if the operating parameter is equal to or less than the threshold value. If the answer to step 106 is no, the method returns to step 102 and the AMS continues to operate according to the wall following routine and in the wall following mode. If the answer to step 106 is yes, the method proceeds to step 108 and the control module initiates the overlap adjustment routine and causes the AMS to operate in the overlap adjustment mode.

[0105] Figure 5 2 is a flow chart illustrating a method 200. The method 200 is to move an injector from an automated system, such as AMS 12 ( Figures 1A to 1C , Figure 2A ) and AMS12′( Figure 3 ) method of applying fluid. The dynamic overlap routine positions the AMS so that the final spray relative to the target wall is applied at the end of the target wall, preventing gap formation and preventing uneven spraying. The overlap adjustment routine further provides uniform fluid application as the AMS approaches the end of the along-wall routine.

[0106] In step 202, a control module of the AMS, such as control module 24 ( Figure 1B , Figure 1C and Figure 2A ), determine the feature on the target wall and / or the end point associated with the feature (such as surface 52 ( Figures 1A to 2B )’s end point EP( Figure 1C , Figure 1D and Figure 2A The endpoint is where the AMS stops the wall routine and ends the spraying or switches to another routine. For example, the endpoint may be located at or spaced from the feature. Based on distance data from a distance sensor, such as a path sensor (such as path sensor 38b) of the AMS, Figure 1C and Figure 2A )) provides forward-looking data to determine the distance to the end point.

[0107] In step 204, the control module determines a remaining pass count for the number of stripes that need to be applied to the target surface to reach the endpoint of the target surface. The control module determines the remaining pass count before shifting the AMS to apply the next stripe of fluid. The remaining pass count is determined based on the distance to the endpoint and the width of the additional coverage provided by each application pass of the AMS. For example, the remaining pass count can be determined by dividing the distance to the endpoint by the width of the additional fluid applied by each spray pass.

[0108] In step 206, the control module determines the status of the remaining traversal count, such as whether the remaining traversal count is a fraction or an integer. If the remaining traversal count is an integer, the answer is yes, and the method 200 proceeds to step 210, where the remaining traversal count is used as the adjusted remaining traversal count. If the remaining traversal count is a fraction, the answer is no, and the method 200 proceeds to step 208.

[0109] In step 208, the fractional remaining traversal count is adjusted to an adjusted remaining traversal count that is an integer. The traversal count value of the fractional remaining traversal count can be adjusted up or down to the nearest adjacent integer. In some examples, the fractional remaining traversal count is adjusted to the nearest integer that is greater than the fractional remaining traversal count. Adjusting to the next larger integer ensures that each portion of the target surface receives at least two fluid applications. In some examples, the fractional remaining traversal count is adjusted to the nearest adjacent integer. Adjusting to the nearest adjacent integer minimizes any difference between the dynamic overlap parameter and the initial overlap parameter.

[0110] In step 210, a dynamic overlap parameter is determined based on the adjusted remaining traversal count and the coverage width of each strip. The distance to the end point is divided by the adjusted remaining traversal count to provide a dynamic overlap parameter. The resulting distance is the dynamic overlap distance. The dynamic overlap percentage can be calculated based on the dynamic overlap distance and the width of the jet fan at the target surface. In some cases, the control module can compare the dynamic overlap percentage with a percentage threshold to determine whether the dynamic overlap percentage falls within the desired range defined by the percentage threshold. The dynamic overlap percentage can be adjusted to fall within the threshold range.

[0111] In step 212, the control module displaces the AMS relative to the target surface according to the dynamic overlap parameter. The control module displaces the AMS relative to the target surface by the dynamic overlap distance and applies the fluid strip at the new location.

[0112] In step 214, the control module determines whether additional fluid strips need to be applied to the target surface to reach the end of the target surface. For example, the control module may determine whether additional strips are needed based on the look-ahead data from the path sensor. If additional passes are needed, the method 200 returns to step 202 and continues to apply fluid strips according to the overlap adjustment routine. If the AMS has reached the end of the wall, no additional passes are needed and the method 200 proceeds to step 216. In step 216, the control module ends the along the wall routine and may stop spraying or start another spraying routine.

[0113] Figure 6 is a flow chart illustrating a method 300. The method 300 is to operate an automated mobile sprayer (AMS), such as AMS12 ( Figures 1A to 1C , Figure 2A ) based on an indicator, such as indicator 54 ( Figure 1A , Figure 2A and Figure 2B ) data to apply the fluid to the target surface. In step 302, the AMS is displaced laterally relative to the target surface and applies the jet of fluid to the target surface. For example, a control module of the AMS, such as control module 24 ( Figure 1C and Figure 2A ), the AMS can be displaced laterally, and the injection of the AMS can be controlled. In some examples, in step 302, the control module causes the AMS to operate according to a wall-following routine.

[0114] In step 304, an indicator sensor, such as indicator sensor 40 ( Figure 1B , Figure 1C and Figure 2A ), sensing indicators encountered by the AMS 12, such as indicator 54 ( Figure 1A , Figure 2A and Figure 2B The indicator sensor generates indicator data, which may be a signal generated by the indicator sensor indicating encounter of the indicator, and provides the indicator data to the control module. The indicator sensor sensing the indicator indicates the presence of a non-injection area, which is an area of ​​the target surface where the injection fluid is not intended to be applied to the target surface.

[0115] In step 306, the control module controls movement and spraying by the AMS relative to the target surface based on the indicator data. For example, the control module may exit the wall following routine and control movement and spraying by the AMS according to a spray adjustment routine. One or more spray adjustment routines may be stored in a memory of the control module, such as memory 42 ( Figure 1C and Figure 2A ) and is called based on the indicator data. In some examples, the control module can cause the AMS to drive forward relative to the target surface and based on the distance sensor (such as the wall sensor 38a ( Figure 1C and Figure 2A )) to determine the spray adjustment routine. The spray adjustment routine provides instructions to the control module 24 for controlling the movement of the AMS and the spraying of the AMS relative to the non-spraying area. In some examples, the control module can exit the spray adjustment routine based on the indicator sensor sensing a second indicator indicating the end of the non-spraying area. In some examples, after exiting the spray adjustment routine, the control module can resume spraying according to step 302, such as resuming spraying via the wall-following routine.

[0116] Although the present invention has been described with reference to exemplary embodiments, it will be appreciated by those skilled in the art that various changes may be made and equivalents may be substituted for its elements without departing from the scope of the present invention. In addition, many modifications may be made to adapt specific situations or materials to the teachings of the present invention without departing from the basic scope of the present invention. Therefore, it is intended that the present invention is not limited to the specific embodiments disclosed, but that the present invention will include all embodiments falling within the scope of the appended claims.

Claims

1. An automated mobile sprayer (AMS) configured to spray a fluid onto a target surface, the AMS comprising: a mobile base configured to move along a first axis of the target surface; a jetting module supported by the mobile base, the jetting module being movable along a second axis along the target surface and configured to jet a fluid jet stripe onto the target surface oriented parallel to the second axis, the second axis being orthogonal to the first axis; at least one path sensor oriented to look ahead in a path of travel of the AMS and generate look-ahead data regarding distances to features in the path of travel; and The control module is configured as follows: receiving the look-ahead data from the at least one path sensor; determining a first distance to the feature; determining a first overlap parameter for the vertical stripes based on the first distance, the first overlap parameter indicating a first degree of overlap between consecutive vertical stripes sprayed by the spraying module; controlling the mobile base and the spraying module to spray at least one vertical stripe based on the first overlap parameter for a first portion of the target surface; determining a second distance to the feature, the second distance being shorter than the first distance; determining a second overlap parameter for the vertical stripes based on the second distance, the second overlap parameter indicating a second degree of overlap between consecutive vertical stripes sprayed by the spraying module; as well as Based on the second overlap parameter for another portion of the target surface different from the portion of the target surface, the mobile base and the spraying module are controlled to spray at least one vertical stripe. 2 . The AMS of claim 1 , wherein the first overlap parameter is different from the second overlap parameter.

3. The AMS of claim 1 , wherein a difference between the first overlay parameter and the second overlay parameter is based on a repositioning movement error caused by repositioning the AMS between vertical strips, the repositioning movement error occurring between the first distance measurement and the second distance measurement. 4 . The AMS of claim 3 , wherein the control module is configured to control the movement of the mobile base based on the first overlap parameter if the magnitude of the repositioning movement error is less than a threshold.

5. An AMS according to any preceding claim, wherein the control module is configured to dynamically adjust an overlap distance by which the AMS is displaced relative to the target surface, the overlap distance being provided by an overlap parameter determined by the control module.

6. The AMS of any one of claims 1 to 4, wherein the control module is configured to determine a final overlap parameter and control the mobile base and the spray module to spray a final vertical strip based on the final overlap parameter, so that the final vertical strip is applied to the target surface at an end point of the target surface.

7. The AMS according to any one of claims 1 to 4, wherein the at least one path sensor is a distance sensor.

8. The AMS of claim 1, wherein during the wall-following routine, an overlap distance between adjacent fluid jet swaths has a set value.

9. The AMS of any one of claims 1 to 4, wherein the mobile base is supported on the ground.

10. The AMS of claim 6, wherein wheels support the mobile base on the ground.

11. The AMS according to any one of claims 1 to 4, wherein the AMS is an unmanned aerial vehicle (UAV).

12. The AMS of claim 8, wherein the spray module is fixed to the mobile base such that the spray module does not move relative to the mobile base.

13. The AMS of claim 8, wherein the first axis is a vertical axis and the second axis is a horizontal axis.

14. The AMS of claim 8, wherein the first axis is a horizontal axis and the second axis is a vertical axis.

15. The AMS of claim 1, wherein the control module is configured to: determining the first overlap parameter based on a count of vertical swaths of full width required to uniformly apply the fluid jet to the target surface; determining that due to repositioning movement errors, a vertical stripe of partial width is required to uniformly apply the fluid jet to the target surface; as well as Based on determining the vertical strips requiring the partial width, the second overlap parameter is calculated.

16. An automated mobile sprayer (AMS) configured to spray a fluid onto a target surface, the AMS comprising: a mobile base configured to move horizontally along the target surface; a jetting module supported by the mobile base, the jetting module being movable along a vertical axis relative to the mobile base and the target surface and configured to jet a fluid jet onto the target surface; at least one path sensor oriented to look ahead in a path of travel of the AMS and generate look-ahead data regarding distances to features in the path of travel; and The control module is configured as follows: receiving the look-ahead data from the at least one path sensor; determining a first distance to the feature; comparing the first distance to a threshold; displacing the AMS relative to the target surface according to a wall-following routine based on the distance to the feature exceeding a threshold; as well as Based on the distance to the feature being one of equal to the threshold and less than the threshold, the AMS is shifted relative to the target surface according to an overlap adjustment routine.

17. The AMS of claim 16, wherein the control module is configured to: determining a remaining pass count, the remaining pass count being a count of the number of fluid jet swaths that need to be applied to the target surface to reach the feature; adjusting the remaining traversal count to an adjusted remaining traversal count, wherein the adjusted remaining traversal count is an integer; determining a dynamic overlap distance based on the distance to the endpoint and the adjusted remaining traversal count; as well as The AMS is displaced relative to the target surface by the dynamic overlap distance to a first application point, and the AMS is caused to apply the fluid jet stripe at the first application point.

18. A method of spraying a fluid onto a target surface using an automated mobile sprayer (AMS), the method comprising: applying a jet of fluid to the target surface with the AMS according to a wall-following routine, wherein a control module of the AMS causes the AMS to shift an initial overlap distance between each swath applied to the target surface relative to the target surface; determining, by the control module, an operational distance to a feature of the target surface based on look-ahead data generated by a path sensor of the AMS; The control module compares the operating distance with a threshold value; as well as initiating, by the control module, an overlap adjustment routine based on the comparison indicating that the operating distance is equal to one of the threshold and less than the threshold; The control module adjusts the initial overlap distance to a dynamic overlap distance and shifts the AMS relative to the target surface by the dynamic overlap distance during the overlap adjustment routine.

19. The method of claim 18, wherein the dynamic overlap routine comprises: A remaining pass count is determined by the control module and based on the operating distance, the remaining pass count being a count of swaths to be applied to the target surface to reach the feature.

20. The method according to claim 19, further comprising: Determining, by the control module, a state of the remaining traversal count; as well as The remaining traversal count is adjusted, by the control module, to an adjusted traversal count based on the state being a fraction, wherein the adjusted traversal count is an integer.

21. The method of claim 20, wherein adjusting, by the control module, the remaining traversal count to the adjusted traversal count based on the state being a fraction, wherein the adjusted traversal count being an integer comprises: The traversal count value of the remaining traversal count is increased so that the adjusted traversal count is greater than the remaining traversal count.

22. The method of claim 21, wherein increasing the traversal count value comprises increasing the traversal count value to a larger adjacent integer.

23. The method of claim 20, wherein adjusting, by the control module, the remaining traversal count to the adjusted traversal count based on the state being a fraction, wherein the adjusted traversal count being an integer comprises: The traversal count value of the remaining traversal count is reduced so that the adjusted traversal count is less than the remaining traversal count.

24. The method of claim 23, wherein decreasing the traversal count value comprises decreasing the traversal count value to a smaller adjacent integer.

25. The method of claim 20, wherein adjusting, by the control module, the remaining traversal count to the adjusted traversal count based on the state being a fraction, wherein the adjusted traversal count being an integer comprises: A traversal count value of the remaining traversal count is adjusted to an adjacent integer having a value closest to the traversal count value, such that the adjusted traversal count is one of greater than the remaining traversal count and less than the remaining traversal count.

26. The method of claim 20, further comprising: A first dynamic overlap distance is determined based on the operation distance divided by the adjusted traversal count.

27. The method according to claim 26, further comprising: The AMS is driven, by the control module, relative to the target surface by the first dynamic overlap distance.

28. The method according to claim 27, further comprising: After driving the AMS the first dynamic overlap distance, a remaining distance to the endpoint of the target surface is determined.

29. The method according to claim 28, further comprising: Based on the AMS being at the endpoint, the dynamic overlap routine is exited.

30. The method of claim 28, further comprising: determining a second dynamic overlap distance based on the look-ahead data from the path sensor and a second adjusted traverse count, the second adjusted traverse count being the adjusted traverse count minus one traverse, based on additional application by the AMS required to reach the endpoint; as well as The AMS is driven, by the control module, relative to the target surface by the second dynamic overlap distance.

31. The method of claim 18, wherein determining, by the control module, the operational distance to the endpoint of the target surface comprises: sensing, by the path sensor of the AMS, a feature in the travel path of the AMS; determining a distance to the feature based on sensor data from the path sensor; as well as The distance to the feature is modified by a spacing factor to provide the operating distance.

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